diff --git a/urdf/include/urdf/link.h b/urdf/include/urdf/link.h
index 6dc90e2..0990407 100644
--- a/urdf/include/urdf/link.h
+++ b/urdf/include/urdf/link.h
@@ -205,8 +205,6 @@ public:
   ///   explicitly stating "parent" because we want directional-ness for tree structure
   ///   every link can have one parent
   boost::shared_ptr<Joint> parent_joint;
-  /// Get Parent Link throught the Parent Joint
-  boost::shared_ptr<Link> parent_link __attribute__((deprecated));  // use getParent() instead
 
   std::vector<boost::shared_ptr<Joint> > child_joints;
   std::vector<boost::shared_ptr<Link> > child_links;
@@ -225,7 +223,6 @@ public:
     this->visual.reset();
     this->collision.reset();
     this->parent_joint.reset();
-    this->parent_link.reset();
     this->child_joints.clear();
     this->child_links.clear();
   };
diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp
index 1d56b8e..11aa9ea 100644
--- a/urdf/src/link.cpp
+++ b/urdf/src/link.cpp
@@ -406,7 +406,6 @@ bool Link::initXml(TiXmlElement* config)
 
 void Link::setParent(boost::shared_ptr<Link> parent)
 {
-  this->parent_link = parent;
   this->parent_link_ = parent;
   ROS_DEBUG("set parent Link '%s' for Link '%s'", parent->name.c_str(), this->name.c_str());
 }